mrpt::srba::compute_jacobian_dAepsDx_deps< jacob_relpose_landmark, 6, 6, RBA_ENGINE_T > Struct Template Reference

Detailed Description

template<class RBA_ENGINE_T>
struct mrpt::srba::compute_jacobian_dAepsDx_deps< jacob_relpose_landmark, 6, 6, RBA_ENGINE_T >

Definition at line 775 of file srba/include/mrpt/srba/impl/jacobians.h.

#include <mrpt/srba/impl/jacobians.h>

Static Public Member Functions
template<class MATRIX , class MATRIX_DH_DX , class POINT , class pose_flag_t , class JACOB_SYM_T , class K2K_EDGES_T , class OBS_VECTOR >
static void	eval (MATRIX &jacob, const MATRIX_DH_DX &dh_dx, const bool is_inverse_edge_jacobian, const POINT &xji_i, const pose_flag_t *pose_d1_wrt_obs, const pose_flag_t &pose_base_wrt_d1, const JACOB_SYM_T &jacob_sym, const K2K_EDGES_T &k2k_edges, const OBS_VECTOR &all_obs)

Member Function Documentation

template<class RBA_ENGINE_T >

template<class MATRIX , class MATRIX_DH_DX , class POINT , class pose_flag_t , class JACOB_SYM_T , class K2K_EDGES_T , class OBS_VECTOR >

static void mrpt::srba::compute_jacobian_dAepsDx_deps< jacob_relpose_landmark, 6, 6, RBA_ENGINE_T >::eval ( MATRIX &  jacob, const MATRIX_DH_DX &  dh_dx, const bool  is_inverse_edge_jacobian, const POINT &  xji_i, const pose_flag_t *  pose_d1_wrt_obs, const pose_flag_t &  pose_base_wrt_d1, const JACOB_SYM_T &  jacob_sym, const K2K_EDGES_T &  k2k_edges, const OBS_VECTOR &  all_obs  )

inlinestatic

Definition at line 778 of file srba/include/mrpt/srba/impl/jacobians.h.

References ASSERT_, mrpt::poses::CPose3D::ln_rot_jacob(), MRPT_UNUSED_PARAM, mrpt::math::UNINITIALIZED_MATRIX, and mrpt::poses::UNINITIALIZED_POSE.